Research On Key Technologies Of Vehicle Location System Based On Cooperative Vehicle Infrastructure System

In recent years,with the rapid development of the transportation industry,it has brought road traffic congestion,frequent safety accidents,environmental pollution and other negative effects.People hope that vehicle road coordination or vehicle networking technology can better promote the development of automatic driving and intelligent transportation,so as to solve the problems in the transportation industry.The vehicle road coordination is a safe,efficient and environmental road traffic system formed by the collaborative control of vehicles and roads through the information interaction between people,vehicles and roads.The location information is the foundation of the road coordination system.This thesis starts with the demand analysis of vehicle road collaborative positioning system,and analyzes the demand of vehicle unit and roadside unit.The UWB signal system and TDOA positioning mechanism are selected,and the general scheme of the system is designed based on the working principle of GPS-RTK system.The UWB-RTK system architecture based on vehicle road coordination is proposed,which provides the engineering foundation for the application of vehicle road coordination positioning system.According to the architecture and overall scheme design of vehicle road collaborative positioning system,this thesis studies the key technologies in the system.Through the timing design and timing synchronization scheme demonstration of the positioning system,the high timing accuracy of the system is guaranteed;through the ideas of link budget and frequency division multiplexing,the networking function of the positioning system is realized,which provides the theoretical basis for the application of the positioning system of the vehicle road system.Aiming at the dirty positioning data in the positioning process,a Kalman-based outlier elimination algorithm was researched to further improve system stability.Through the design of confidence evaluation of positioning data accuracy,the integrity service monitoring of positioning system is designed.The Gauss Kruger projection algorithm in WGS-84 coordinate system is studied and implemented,which provides a theoretical basis for the application of vehicle road system positioning system.In this thesis,a positioning system prototype based on vehicle road cooperation is developed,and key technologies such as timing design and high-precision timing synchronization scheme are completed.Experiments are carried out in outdoor parking lot and outdoor scene environment.The experimental results verify the feasibility of the positioning system and meet the expected design index.The research content of this thesis provides theoretical and engineering basis for the application of UWB positioning technology in vehicle road coordination.